/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2012, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: E. Gil Jones */

#ifndef MOVEIT_PLANNING_MODELS_ANGLE_UTILS_
#define MOVEIT_PLANNING_MODELS_ANGLE_UTILS_

#include <planning_models/transforms.h>
#include <moveit_msgs/RobotState.h>
#include <moveit_msgs/RobotTrajectory.h>

namespace planning_models
{

//copied from geometry/angles/angles.h
static inline double normalizeAnglePositive(double angle)
{
  return fmod(fmod(angle, 2.0*M_PI) + 2.0*M_PI, 2.0*M_PI);
}

static inline double normalizeAngle(double angle)
{
  double a = normalizeAnglePositive(angle);
  if (a > M_PI)
    a -= 2.0 *M_PI;
  return a;
}

static inline double shortestAngularDistance(double start, double end) {
  double res = normalizeAnglePositive(normalizeAnglePositive(end)-normalizeAnglePositive(start));
  if(res > M_PI) {
    res = -(2.0*M_PI-res);
  }
  return normalizeAngle(res);
}

} //namespace planning_models

#endif
